State_estimator setting for passive joints. #27
Description
Hi,
Thank you very much for your excellent works.
I'm trying to perform sim2sim to validate my own robot. However, because my robot has passive joints, the state_estimator and ROS2 match successfully.
The error message is as follows:
[mujoco_sim-3] [ERROR] [controller_manager]: Can't activate controller 'state_estimator': State interface with key 'left_ankle_pitch_joint1/position' does not exist
[mujoco_sim-3] [ERROR][controller_manager]: Could not activate controller : 'state_estimator'
[spawner-1] [ERROR] [spawner_state_estimator]: Failed to activate controller : state_estimator
left_ankle_pitch_joint1 is a passive joint.
The controller.yaml of motion tracking_controller is setting as bellow:
controller_manager:
ros__parameters:
update_rate: 500 # Hz
state_estimator:
type: legged_controllers/StateEstimator
standby_controller:
type: legged_controllers/StandbyController
walking_controller:
type: motion_tracking_controller/MotionTrackingController
state_estimator:
ros__parameters:
model:
base_name: "pelvis"
six_dof_contact_names: [ "left_ankle_roll_link", "right_ankle_roll_link" ]
estimation:
position:
noise: 1e-2
frame_id: "mid360_link"
standby_controller:
ros__parameters:
joint_names:
[
"left_hip_pitch_joint",
"left_hip_roll_joint",
"left_hip_yaw_joint",
"left_knee_joint",
"left_ankle_pitch_joint2",
"left_ankle_roll_joint",
"right_hip_pitch_joint",
"right_hip_roll_joint",
"right_hip_yaw_joint",
"right_knee_joint",
"right_ankle_pitch_joint2",
"right_ankle_roll_joint"
]
default_position: [
-0.3, 0.0, 0.0, 0.7, 0.0, 0.0,
-0.3, 0.0, 0.0, 0.7, 0.0, 0.0,
]
kp: [
150.0, 150.0, 100.0, 150.0, 100.0, 50.0,
150.0, 150.0, 100.0, 150.0, 100.0, 50.0,
]
kd: [
5.0, 5.0, 4.0, 5.0, 50.0, 2.5,
5.0, 5.0, 4.0, 5.0, 50.0, 2.5,
]
How to ignore passive joints interface ?
Thank you very much for any reply.
Best Regards.